From 1c93b060c7d3301242cdbd81d6866edd21824891 Mon Sep 17 00:00:00 2001 From: rafal-gorecki Date: Mon, 17 Jun 2024 12:26:16 +0200 Subject: [PATCH] Move files in better dirs --- Dockerfile | 3 ++- README.md | 4 ++-- demo/compose.yaml | 2 +- {husarion_utils => demo/config}/nmea_navsat_params.yaml | 0 {husarion_utils => demo}/nmea_navsat.launch.py | 2 +- 5 files changed, 6 insertions(+), 5 deletions(-) rename {husarion_utils => demo/config}/nmea_navsat_params.yaml (100%) rename {husarion_utils => demo}/nmea_navsat.launch.py (97%) diff --git a/Dockerfile b/Dockerfile index e4fa800..a6bf7b4 100755 --- a/Dockerfile +++ b/Dockerfile @@ -25,4 +25,5 @@ RUN apt-get update && apt-get install -y \ rm -rf src build && \ rm -rf /var/lib/apt/lists/* -COPY husarion_utils /husarion_utils +COPY demo/config/ /config +COPY demo/nmea_navsat.launch.py / diff --git a/README.md b/README.md index 0b6421d..57af9f1 100644 --- a/README.md +++ b/README.md @@ -53,10 +53,10 @@ You should be able to see data on `/panther/gps/fix` topic (`ros2 topic echo /pa ### Launch Parameters -Contained within the image is a custom `/husarion_utils/nmea_navsat.launch.py`, which is not included in the ROS 2 package for the `nmea_navsat_driver`. This was specifically added to facilitate seamless integration with Husarion robots. The following parameters are included in this launch file: +Contained within the image is a custom `/nmea_navsat.launch.py`, which is not included in the ROS 2 package for the `nmea_navsat_driver`. This was specifically added to facilitate seamless integration with Husarion robots. The following parameters are included in this launch file: | **Parameter** | **Description** | **Default Value** | | ------------------ | ----------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------ | -| `params_file` | Path to the parameter file for the nmea_socket_driver node. | `/husarion_utils/nmea_navsat_params.yaml` | +| `params_file` | Path to the parameter file for the nmea_socket_driver node. | `/config/nmea_navsat_params.yaml` | | `robot_namespace` | Namespace to all launched nodes and use namespace as tf_prefix. This aids in differentiating between multiple robots with the same devices. | `env("ROBOT_NAMESPACE")` (`""` if not specified) | | `device_namespace` | Namespace for the device, utilized in TF frames and preceding device topics. This aids in differentiating between multiple cameras on the same robot. | `gps` | diff --git a/demo/compose.yaml b/demo/compose.yaml index 0a22336..c19069d 100644 --- a/demo/compose.yaml +++ b/demo/compose.yaml @@ -4,5 +4,5 @@ services: network_mode: host restart: always command: > - ros2 launch /husarion_utils/nmea_navsat.launch.py + ros2 launch /nmea_navsat.launch.py robot_namespace:=panther diff --git a/husarion_utils/nmea_navsat_params.yaml b/demo/config/nmea_navsat_params.yaml similarity index 100% rename from husarion_utils/nmea_navsat_params.yaml rename to demo/config/nmea_navsat_params.yaml diff --git a/husarion_utils/nmea_navsat.launch.py b/demo/nmea_navsat.launch.py similarity index 97% rename from husarion_utils/nmea_navsat.launch.py rename to demo/nmea_navsat.launch.py index 1b2ecbb..c5206a4 100644 --- a/husarion_utils/nmea_navsat.launch.py +++ b/demo/nmea_navsat.launch.py @@ -35,7 +35,7 @@ def generate_launch_description(): params_file = LaunchConfiguration("params_file") declare_params_file_arg = DeclareLaunchArgument( "params_file", - default_value="/husarion_utils/nmea_navsat_params.yaml", + default_value="/config/nmea_navsat_params.yaml", description="Path to the parameter file for the nmea_socket_driver node.", )